JP6791846B2 - Torque transmission control mechanism for maneuverable equipment - Google Patents

Description

Since the 1980s, open surgery has been largely replaced by an endoscopic approach in which a long shaft instrument is inserted through a trocar into a gas-expanded abdomen. Laparoscopic surgery, known for its proven benefits of short hospital stays, less post-surgery pain, and faster recovery, is becoming more demanding of surgeons.

The drawback of endoscopic surgery is its lack of dexterity. This is mainly due to the fulcrum effect at the tip of the instrument and the lack of wrist-like movement. Recognition of this shortcoming has increased more complex endoscopic procedures, and single-open surgery, which is characterized by the "sword fighting" of the instrument, is being performed.

The fulcrum effect affects the pivot of the long shaft instrument at the level of the trocar (axis point) inserted into the abdomen. The movement of the handle to the left is translated into a movement to the right in the actuator (eg, scissors) and vice versa. The surgeon can quickly adapt to these opposite movements.

Lack of wrist-like movement is even more difficult to overcome. A solution to this technical situation is provided by the Da Vinci Robot (Intuitive Surgical), which translates the surgeon's hand movements in the console into smooth movements at the tip of the instrument. This solution is expensive and leads to the development of even cheaper hand devices with omnidirectional articulated tips.

Many surgical challenges result from lack of dexterity. Traditional inflexible laparoscopic instruments offer only four degrees of freedom: rotation, up / down angle, left / right angle, in / out movement. Various designs for maneuverable devices have been developed to overcome this movement constraint.

1. In its simplest form, the articulated instrument comprises a pre-curved flexible tube that is slid out of a rigid straight tube. This tip can only bend in one direction (a unidirectional articulated instrument) and can only resist lateral forces of a range of strength.

2. A more advanced alternative is an instrument that allows the tip to bend in one plane (eg left to right, vice versa). Due to the nature of the structure, a very stable tip is created. These bidirectional instruments need to be guided to the point of interest by curving in one direction and rotating the entire instrument around its own axis. This lacks ease of use.

3. Precise wrist movement is only possible with an omnidirectional system. The articulated omnidirectional instrument primarily comprises a proximal end and a distal end, a distal end bend, a shaft region extending from the distal end bend, and optionally includes a proximal end bend. The movement of the base end is transmitted to the movement at the tip. Examples are described in US Pat. No. 7,410,483 (Fig. 11) and US Pat. No. 8,105,350 (Fig. 15).

Similar to robotic surgery, articulated omnidirectional instruments have up to seven degrees of freedom (rotation of the axis and deflection of the tip in two planes, four of the more rigid conventional instruments. (Additionally added) to provide. The combination of ascending / descending and left / right movements on the proximal side allows all points on the actuator side of the tip to be reached without the need to rotate around itself. However, as the ease of handling increases, the stability of the tip is inevitably significantly reduced. To solve this, a solution that mixes the Kymerax® system (Terumo) and the Jaimy® system (End Control) provides compensation using a powerful electric servomotor and is advanced. Revives the stability of.

Omnidirectional articulated instruments offer the advantages of lower cost and tactile feedback compared to robotic systems.

The wrists of articulated surgical instruments must be stable and, for example, exhibit sufficient resistance to the application of external forces. It has recently been studied by Chang Wook (Chang et al., "Insufficient Joint Forces of First Generation Articulated Instruments for Single Position Surgery for Abdominal Endoscopy, Surgical Innovation 2012). He calculated that the wrist of a useful instrument could theoretically withstand a minimum lateral force of 20N.

This stability is achieved by increasing the diameter of the device, by increasing the number and cross section of the control wire, by shortening the wrist length, or by using a more rigid material. be able to. However, if the desire to reduce invasiveness requires a minimum diameter, then a compromise with existing technology is required.

Perhaps the most important feature in surgery is rotational stability. It is the ability to transmit rotational motion from the shaft through the wrist of the instrument to the actuating body at the end. For example, the action of throwing a suture to the cutting position of the opposite hand is curved to about 70 ° or more, and the rotational action of the needle holder requires an instrument that allows the curved needle to protrude the tissue.

Surgical instruments are considered omnidirectional instruments when the flexible proximal end is free to move within the entire cone angle with respect to the direction of the shaft. Usually, ball socket fittings are used. This is a three-degree-of-freedom joint capable of actions such as pitch (up-down), roll (left-right) and yaw (rotation). To transmit the rotational movement, the rotational movement in the joint is theoretically constrained using, for example, pins and grooves. An arched groove extends into a plane provided in the socket that substantially penetrates the center of the ball and receives pins pivoted to adjacent sides of the ball. Another method is the use of balls and sockets with facets. The facets and edges prevent axial rotation, but reduce lateral angulation.

There are many ways in which revolving fitting connections can be assembled by mimicking the movement of ball socket fittings. For example, a universal joint is similar to a ball socket joint, except that it is constrained by one degree of freedom of rotation. The two fork shafts are connected by a cross, which holds them at 90 degrees, so that when torque is applied to the shaft 1, the shaft 2 rotates. The universal joint is even with the hinge 2 joint, in which the hinge 2 axes are orthogonal to each other and have a fully fixed connection in place. In articulated surgical instruments or articulated intravascular catheters, universal joints are often realized by the connection of flexible hinges with 90 ° orientation to each other.

Omnidirectional motion can be achieved using a kinematic chain, which is an assembly of links arranged side by side. A link is a rigid body that has points that attach to other links. In human physiology, links can be considered as intervertebral discs, vertebrae, or bone fragments. A fitting is a connection between links. A kinematic pair is a combination of two links and a fitting between them. A kinematic chain is a combination of links and fittings. The wrist of the device is a kinematic chain between the shaft and the end actuator.

The freedom of rotation between the two links is constrained, but it is interesting that kinematic chains with such links can be forced into a form in which the first and last links rotate with each other. It is an observation with. When all links and fittings are in a straight line, the rotational motion is transmitted without sagging and the first and last links maintain the same orientation. However, when the kinematic chain follows a spiral curve, there is considerable rotation between the first and last links. Omnidirectional instruments based on the connection of (flexible) ribolute fittings are also prone to this phenomenon. For surgical instruments, this results in a rotation between the shaft and the flexible tip. In surgery, this loss of revolut electric power is highly undesirable.

One solution in this art to curb the "spiral kinematic chain effect" is to reduce the number of links. U.S. Patent Publication No. 2012/0220831 describes a multi-disc wrist fitting with only 5 links and 4 fittings. They claim that the instrument has no specificity in roll, pitch or yaw. Therefore, the movement is smooth. This is true for robot applications where all fittings are individually controlled. It is also easily modified by the appropriate inverse kinematics performed in the computer controller. With manually controlled instruments, fittings are difficult to control, especially if the individual fittings need to bend more than 45 °. When operated at extreme angles, they become "notched" and difficult to rotate. An object of the present invention is to provide a mechanical conduction system for maneuverable instruments that overcomes one or more problems in first-come-first-served technology.

According to the first embodiment, the present invention has a proximal end (20) and a distal end (40), a shaft region (532), and a flexible proximal end BPP (534) capable of moving in all directions. ) And a mechanical transmission system MTS (100) for maneuverable equipment (500) with a flexible tip BDP (530) that can move in all directions and move in response to the movement of the BPP (534). The MTS (100) is equipped with a plurality of vertical members LM (110), each having a proximal end (20) and a distal end (40) and arranged vertically around an imaginary tube (120). Has a transmission shaft region TSR (132), a transmission flexible base end TBPP (134), and a transmission flexible tip TBDP (130), and has a planar cross section (114) of at least one LM (110). ) Indicates the geometrical moment of inertia, and many LMs (110) are constrained to rotate axially at one or more constrain points, each along TBDP (130) or TSR (132). The LM can slide vertically with respect to each separated restraint point, and the MTS (100) can rotate the tip of the BDP (530) axially in the curved position by the supplementary rotation of the BPP (534). Regarding MTS (100).

At least one constraint point along the TSR (132) is provided at half the tip of the TSR (132), preferably at the tip of the TRS (132) at 10% of the total length of the TSR (132). At least one other constraint along the TSR (132) is at half the proximal end of the TSR (132), preferably 10% of the total length of the TSR (132) at the proximal end of the TSR (132). It may be provided in.
Each of the numerous LMs (110) may be constrained to rotate further axially at one or more constraining points along the TBPP (134).
The MTS (100) may further include one or more LM guides (300, 305, 350) having a configuration that constrains the large number of LMs (110) so as to rotate axially at the restraint points.
Each LM guide may be further configured to hold the large number of LMs (110) at substantially constant circumferential positions on the fictitious tube (120) at the restraint points.
The MTS (100) may have at least two LM guides (300, 305, 350) on the TBDP (130) and at least two LM guides on the TBPP (134).
The LM Guides (300, 305, 350) rotatably constrain the large number of LMs (110) to restraint points and are substantially constant on the fictitious tube (120) at the restraint points. It may include a body configured to hold the LM (110) in a circumferential position and having a plurality of separate passages (310) arranged around an aerial tube (320, 120).
A passage (310) configured to rotatably constrain the LM (110) to the TBDP or TBPP may provide a contour in the cross section that complements the plane cross section (114) of the LM.
The LM guides (300) in TDBP (130) and TDPP (134) are articulated, and the LM guides (305, 350', 350 ") are arranged side by side and articulated to each other. And thereby supporting the LM (110) curvature of DBP (130) and PBP (134).
The articulated LM guides (305, 350', 350 ") may be in paired mutual contact via a pivot joint consisting of a ball socket joint.
The yaw between adjacent articulated LM guides may be limited by arranging the separated restraint points in a row so that they are substantially fixed along the aerial tube and rotate with each other.
The LM guide (300) of the TSR (132) is a fixed LM guide (305, 350', 350 ") and is more flexible of the TSR (132) than of the TBDP (130) or TBPP (134). May be rotatably fixed to each other so as to reduce.
The planar cross section of the LM has rectangular, letter "I", or arcuate contours, and in some cases, one or more corners of those contours may be sharp or rounded. ..
BDP (530) and BPP (534) may be at least partially curvy.
According to a second embodiment, the present invention relates to a maneuverable device (500) with the MTS (100) described below.

Another embodiment of the present invention relates to a mechanical conduction system MTS (100) for a maneuverable device (500), the maneuverable device (500) having a proximal end (20) and a tip end (40). With a flexible base end BDP (530), the BDP (530) moves in all directions in response to the operation of the MTS (100) at the base end (20), and each of the MTS (100) has a base end ( It has a 20) and a tip (40), is equipped with a plurality of slave members LM (110) arranged vertically around an imaginary tube (120), and has a corresponding transmission flexible tip TBDP (130). ), And at least one, and in some cases each, and all, the plane cross-section of the LM (110) exhibits the anisotropic moment of inertia of area, and the majority, preferably all of the plurality of LM (110). Are constrained to rotate axially at each of the transmission flexible tips (130).

The anisotropy may relate to the mutual orthogonal axes (116, 118) intersecting at the center of gravity of the plane cross section (114) of the LM (110), around which the LM (110) has a high moment of inertia of area. The shaft (116) to be held is oriented in the direction toward the central axis (A-A') of the fictitious tube. The axis (116) intersects the central axis (A-A') of the fictitious tube (120) or is a virtual line (111) drawn between the central axis (A-A') and the center of gravity (111) of the plane cross section. It may deviate from the center line of the fictitious tube (120) by taking an angle (alpha) up to 60 degrees compared to 115). The plane cross section (114) may be present in the transmission flexible tip (130). The number of LMs (110) may be at least 3 or 4. The plane cross-section of the LM may have rectangular, letter "I", or arc contours, and in some cases, one or more of those contours may have sharpened or rounded corners. ..

The MTS (100) also maintains the LM (110) in an essentially constant circumferential position on the fictitious tube (120) so that the TBDP (130) rotates a number of LMs (110) axially. It may be provided with one or more LM guides (300, 350) having a configuration that is constrained to. The LM Guides (300, 305, 350) have multiple separate channels (310s) arranged around the fictitious tubes (320, 120) and are essentially constant on the fictitious tubes (120). The TBDP (310) may be provided with a main body having a configuration in which a large number of LMs (110) are constrained to rotate in the axial direction while maintaining the LM (110) at the outer peripheral position of the. The passage (310) having a configuration that constrains the TBDP to rotate the LM (110) in the axial direction may be provided with a contour in the cross section that supplements the plane cross section (114) of the LM. Some of the LM Guides (300) are articulated LM Guides (305, 305', 305 ") arranged side by side in TBDP (130) and articulated to each other, thereby DBP (130). The curvature of the LM (110) in the LM (110) may be supported. The articulated LM guides (305, 305', 305 ") may be paired with each other by a pivot joint. Some of the LM Guides (300) are located in the transmission shaft region TSR (132), adjacent to the TBDP (130), with fixed LM Guides (350, 350', 350') fixed to rotate with each other. The MTS (100) may further include a flexible transmission base end TBPP (134) for omnidirectional operation by the user, which provokes an omnidirectional movement response of the TBDP (130).

Another embodiment of the present invention relates to a maneuverable device (500) with an MTS (100) as defined herein. The BDP (530) may be configured to move in at least two different intersecting planes in response to the operation of the MTS (100) at the proximal end (20), in which case the maneuverable device (500) An end actuator (540) is further provided at the tip of the BDP (530). The end actuator (540) is fixed to rotate with respect to the BDP (530), and the end actuated by the complementary rotation of the proximal end bend (202) when the BDP (530) is in a curved position. The MTS (100) is configured so that the body is rotatable. The end actuator adjusts the rotation of the end actuator and rotates with respect to the BDP by a lockable element configured to rotatably secure the end actuator (540) to the BDP (530). It may be fixed so as to.

FIG. 1 shows an isometric view of the mechanical transmission system (MTS) of the present invention decomposed in the form of a straight line. FIG. 2 shows the MTS of FIG. 1 in which the transmission flexible tip (TBDP) is curved and the transmission shaft region (TSR) remains in the same linear form. FIG. 3 shows two intersecting axes of a plane cross section, which is a plane cross section of the vertical member (LM) at position 112 in FIG. 1, which has an "I" -shaped contour. FIG. 4 shows the appearance of the MTS of the present invention with multiple fixed LM guides and multiple articulated LM guides. FIG. 5 shows the MTS of FIG. 4, in which TBPP was actuated by curvature and its movement was transmitted to TBDP. FIG. 6 shows a semicircular cross section (ie, planar cross section) of the LM. FIG. 7 shows the rectangular cross section (ie, planar cross section) of the LM. FIG. 8 shows the cross section (ie, plane cross section) of the LM “I”. FIG. 9 shows a rectangular cross section (ie, planar cross section) with rounded corners of the LM. FIG. 10 shows the cross section (that is, the plane cross section) of the LM competition truck. FIG. 11 shows a side view of a mechanical transmission means other than the present invention, in which each of the vertical members has a circular plane cross section. FIG. 12 shows a side view of the MTS of the present invention, each of which has an "I" -shaped plane cross section. FIG. 13 shows an isometric view of a mechanical transmission means not of the present invention, where each of the vertical members has a circular planar cross section and shows an undesired twist of the vertical members. FIG. 14 shows an isometric view of the MTS of FIG. 12 of the present invention, showing that each of the LMs has an "I" -shaped planar cross section and the LM twist is significantly less in TBDP. FIG. 15 is a side view of the MTS of FIG. 14 of the present invention showing a single separated LM. FIG. 16 is a side view of the MTS showing the different radius of curvature of the LM provided in the TBDP of the MTS. FIG. 17 is a plan view of the disc-shaped LM guide. FIG. 18 is a side view of an LM guide, which is an LM guide that is articulated. FIG. 19 is an isometric view of the control device incorporating the MTS of the present invention. FIG. 20 is an isometric view of the MTS100 of the present invention with four LMs maintained in radial positions by a plurality of fixed LM guides and articulated LM guides. FIG. 21A shows a flexible tip of a mechanical transmission means not of the present invention, comprising a vertical member with a circular contour. FIG. 21B shows the flexible tip of the mechanical transmission means of FIG. 21A, which is not of the present invention, in an undesired fixed spiral kinetic chain state. FIG. 22 shows two typical orientations of the LM Guide passage and the LM within it. Figures 22A and 22 show two typical orientations of the LM in the LM Guide passage. FIG. 23 shows the separated restraint points in a mutual rotation array that is essentially fixed along the fictitious tube.

[Detailed description of the invention]
It should be understood before describing the methods used in the present invention, but the invention is not limited to the particular methods, components or devices described. That is because such methods, components or devices may, of course, change. Furthermore, it should be understood that the terminology used here is not intended to be limiting. This is because the scope of the present invention is limited only by the appended claims.

As used here, the singular word forms "one (a, an)", which "the" is the singular and multiple referents unless the context explicitly points to another. Including the subject.

As used herein, "comprising, complements, complemented of" is synonymous with "including, includes, containing, contains" and is a comprehensive or non-limiting member without additional description. Do not exclude elements or methods. "Comprising, complements, complemented of" also includes "consisting of".

The description of a numerical range by endpoints, like the endpoints described, includes all numbers and fractions contained within each range.

When quoting measurable values such as parameters, quantities, time duration, etc., the term "about" used herein is a specific value as long as the variation is appropriate for practice in the disclosed invention. From 10% or less of soil, preferably 5% or less of soil, more preferably 1% or less of soil, and even more preferably 0.1% or less of soil. It should be understood that the values cited by the modifier "about" are themselves clearly and preferentially disclosed.

Unless otherwise defined, all terms used in the disclosure of the present invention, including technical and scientific terms, have meanings commonly understood by those skilled in the art to which the invention belongs. Definitions of terms used herein are included to further evaluate the disclosure of the invention with further guidance. All publications cited here are incorporated here by citation. All US patents and patent applications cited herein are incorporated herein by reference in their entirety, including drawings.

Reference to "one embodiment" throughout this specification means that any particular feature, structure or property described in connection with the embodiment is included in at least the embodiments of the present invention. Therefore, the expressions "in certain embodiments" and "in embodiments" in various places throughout this specification do not necessarily cite all of the same embodiments, but may. Moreover, certain features, structures or properties may be combined in a suitable manner in one or more embodiments, as will be apparent to those skilled in the art from this disclosure. In addition, some embodiments described herein include some features that are not other features contained in other embodiments, but combinations of features of different embodiments will be appreciated by those skilled in the art. By the way, it is within the scope of the present invention and is meant to form other embodiments. For example, in the following claims, any embodiment can be used in any combination.

The terms "tip" and "base" are used throughout this specification, and it is generally understood in the art that the surgeon side of the device means (base) and the device away (tip). It is a term that has been used. Thus, the "base" means closer to the surgeon's side and therefore away from the patient's side. Conversely, "tip" means closer to the patient's side and therefore farther from the surgeon's side.

The present invention relates to a mechanical transmission system (MTS) for maneuverable equipment. Maneuverable equipment is preferably along a vertical line, meaning longer in one direction. A line (straight) maneuverable device is within the scope of the present invention, but does not necessarily mean that the maneuverable device is on a straight line. The maneuverable device may have a linear or curved, eg, C or S-shaped shaft region.

Typically, the maneuverable device has a base end and a tip and includes a flexible tip (BDP). The flexible tip (BDP), sometimes known as the wrist, moves in response to the action of the MTS at the proximal end. The actuation of the MTS at the proximal end causes a motion response in the BDP. The maneuverable device also comprises a shaft region (SR), which may be rigid or semi-rigid in nature, one end of which comprises a BDP. The shaft area is along the vertical line, meaning that it is long in one direction. The on-line (straight) shaft is within the scope of the present invention, but does not necessarily mean that the shaft region is linear. The shaft region may be linear or curved and may have, for example, a C or S shape. To control the BDP, a control wire known as a slave member (LMS) is used in the MTS. They control BDP by pulling or pushing. The MTS comprises a plurality of slave members (LMs), each of which has a proximal end and a distal end, which are arranged longitudinally around an aerial tube. At least one of the LMs includes a region whose plane cross section has an anisotropic moment of inertia of area with respect to the two intersecting axes. The tip of the BDP (the end of the tip) can move with equal ease in any direction, that is, it has no specificity. The response of movement is proportional to the degree of operation.

The shaft region (SR) is preferably rigid or semi-rigid in nature, or becomes rigid or semi-rigid when cooperating with an outer or outer tube that is rigid or semi-rigid. May be good. The shaft area is adjacent to the BDP. The shaft region may be in contact with the BDP. The maneuverable device may further include a flexible base end (BPP) at the base end of the maneuverable device. The BPP is adjacent to the shaft area, that is, the shaft area is provided between the BDP and the BPP. The shaft region may be in contact with the BPP. The movement of the BPP activates the MTS at the proximal end, causing the BPP to react. Movements of different degrees of curvature of BPP in different radial directions are transmitted to BDP using MTS, resulting in corresponding changes in BDP radial and / or BDP curvature, etc. The maneuverable device may operate at the proximal end using, for example, two or more LMs or electromechanical devices directly connected to each and all LMs to the MTS. Typically, the LM in the shaft area is activated. In such cases, the device may lack BPP. Also, robot-like control can be achieved by using an electromechanical device that activates the BPP. The electromechanical device may be, for example, a servomotor. Binding to electromechanical devices facilitates direct integration into surgical robots.

The operation reaction of BDP is
-Changes in the degree of curvature in a plane parallel to the shaft region, the degree of contact with the central vertical axis of the shaft region, and the degree of extension from the shaft region,
-It may be a change in the bending direction in the plane orthogonal to the shaft region, the contact direction with the central vertical axis of the shaft region, and the extending direction from the shaft region.

The combination of maneuverable device movements usually facilitates the rotation of the shaft region transmitted at its tip to the BDP while in the curved position of the BDP. However, the inventors have found that the tip of the BDP does not rotate in synchronization with the shaft region. There is a "dead zone", backlash or play that does not lead to rotation of the tip of the DBP, especially when the torque applied to the proximal end and transmitted through the shaft region is in a curved position.

The maneuverable instrument may be, for example, a surgical device such as a laparoscopic device or an endovascular catheter. The present invention can be used for articulated instruments such as, but not limited to, intravascular applications, surgical instruments, robotic remote controlled medical robots or small surgical instruments and industrial applications.

The BDP is configured to move in all directions, that is, in any radial direction. The BDP is preferably configured to move in any radial direction (about 360 ° with respect to the central vertical axis (A-A') of the shaft region). The BDP is provided parallel to the shaft region and has at least two different planes (eg, 3, 4, 5, 6, 7, 8 or more) in contact with the central vertical axis (A-A') of the shaft region. It is preferably configured to move within. Preferably, the BDP is provided parallel to the shaft region and is configured to travel within a myriad of different planes in contact with the central vertical axis (A-A') of the shaft region. The curvature of the BDP is typically, at least in part, a curve, i.e. the BDP can be curved. Bending means a smooth curve rather than an angular curve, as is commonly understood in the art. The bend typically changes continuously for at least a portion of the length, as compared to the angular curvature, which typically exhibits a single change with a constant slope or discontinuity of slope, for example in a hinge joint. It has a gradient (eg, increasing or decreasing). It is understood that the BPP may be biased towards a linear form or the actuation may cause curvature. In addition, the BDP may be biased toward a curve, or the curve may be added or reduced by operation.

Similarly, the BPP is configured to move in all directions, that is, in any radial direction, if present. The BPP is preferably configured to move in any radial direction (about 360 ° with respect to the central vertical axis (A-A') of the shaft region). The MTS is preferably configured to move the BPP in at least eight different directions. The BPP is provided parallel to the shaft region and has at least two different planes (eg, 3, 4, 5, 6, 7, 8 or more) in contact with the central vertical axis (A-A') of the shaft region. It is preferably configured to move within. Preferably, the BPP is arranged parallel to the shaft region and travels in a myriad of different planes in contact with the central vertical axis of the shaft region. The curvature of the BPP is typically, at least in part, a curve, i.e. the BDP can be curved. Bending means a smooth curve rather than an angular curve, as is commonly understood in the art. The bend typically changes continuously (eg, for example, in a hinged joint, for at least a portion of the length, as compared to an angular curvature showing a single change with a constant slope or discontinuity of slope. It has a gradient (increasing or decreasing). It is understood that the BPP may be biased towards a linear form or the actuation may cause curvature. In addition, the BPP may be biased toward a curve, or the curve may be added or reduced by operation.

The maneuverable device may include end actuators such as grips, pliers, cutting scissors and the like. Its end actuator is provided at the tip of the maneuverable device.

Further, even in a curved state, it may be possible to rotate the tip of the instrument around its own axis, i.e. axially. Therefore, the MTS can rotate the tip of the BDP (or TBDP) axially in the curved position by the complementary rotation of the BPP (or TBPP). The maneuverable device may include an end actuator at the tip of the BDP. In that case, the MTS is configured such that the end actuator is rotatably fixed relative to the BDP and the end actuator is rotatable by the complementary rotation of the BPP when the BDP is in a rotating position. The end actuator may be rotatably fixed to the BDP by a lockable element that is rotatable and rotatably secured to the BDP.

The MTS has a proximal end and a distal end, as described herein. The tip is equipped with a transmission flexible tip (TBDP), which moves in response to the operation of the MTS at the base, moving the BDP of the maneuverable device. The position of TBDP corresponds to BDP. The base end may include a transmission flexible base end portion (TBPP). The movement of the BPP user of the maneuverable device is transmitted to the TBPP. The position of TBDP corresponds to BPP. The TBPP activates the MTS at the proximal end, eliciting a response to the TBDP movement transmitted to the maneuverable device BDP.

The MTS also comprises a transmission shaft area (TSR) provided within the corresponding shaft area of the maneuverable device. The TSR is preferably rigid or semi-rigid in nature, but may be rigid or semi-rigid when cooperating with a rigid or semi-rigid outer tube or outer tube.

The MTS may be operated at the proximal end using an electromechanical device directly connected to the MTS, eg, two or more LMs or each LM and all LMs. Typically, the LM in the LM shaft area is activated. In that case, the device does not have to have TBPP. In addition, robotic control can be realized by using an electromechanical device that operates a BPP. The electromechanical device may be, for example, a servomotor. This facilitates direct integration into the surgical robot.

The MTS is preferably configured to move the BDP in all directions. The MTS is preferably configured to move the BDP in either direction (approximately 360 ° with respect to the central vertical axis of the TSR (A'-A)). The MTS is preferably configured to move the BDP in at least eight different directions. The MTS is located in parallel to the TSR and in at least two different planes (eg, 3, 4, 5, 6, 7, 8 or more) in contact with the central vertical axis (A'-A) of the TSR. May be formed to move. Preferably, the MTS is provided parallel to the transmission shaft region and is configured to move the BDP in a myriad of different planes in contact with the central vertical axis of the transmission shaft region.

TBDP is configured to move in all directions, that is, in any radial direction. The TBDP is preferably configured to move in any radial direction (about 360 ° with respect to the central vertical axis (A'-A) of the shaft region). The TBDP is provided parallel to the shaft region and has at least two different planes (eg, 3, 4, 5, 6, 7, 8 or more) in contact with the central vertical axis (A'-A) of the shaft region. It is preferably configured to move within. Preferably, the TBDP is provided parallel to the shaft region and is configured to travel within a myriad of different planes in contact with the central vertical axis (A'-A) of the shaft region. The curvature of TBDP is typically, at least in part, a curve, i.e., TBDP can be curved. Bending means a smooth curve rather than an angular curve, as is commonly understood in the art. The bend typically changes continuously (eg, for example, in a hinged joint, for at least a portion of the length, as compared to an angular curvature showing a single change with a constant slope or discontinuity of slope. It has a gradient (increasing or decreasing). It is understood that TBDP may be biased towards a linear form or actuation may cause curvature. Also, TBDP may be biased towards a curve, or the curvature may be added or reduced by actuation.

TBPP is configured to move in all directions, that is, in any radial direction. The TBPP is preferably configured to move in any radial direction (about 360 ° with respect to the central vertical axis (A'-A) of the shaft region). The TBPP is provided parallel to the shaft region and has at least two different planes (eg, 3, 4, 5, 6, 7, 8 or more) in contact with the central vertical axis (A'-A) of the shaft region. It is preferably configured to move within. Preferably, the TBPP is provided parallel to the shaft region and is configured to travel within a myriad of different planes in contact with the central vertical axis (A'-A) of the shaft region. The curvature of the TBPP is typically, at least in part, a curve, i.e. the TBPP can bend. Bending means a smooth curve rather than an angular curve, as is commonly understood in the art. The bend typically changes continuously (eg, for example, in a hinged joint, for at least a portion of the length, as compared to an angular curvature showing a single change with a constant slope or discontinuity of slope. It has a gradient (increasing or decreasing). It is understood that TBPP may be biased towards a linear form or actuation may cause curvature. In addition, TBPP may be biased toward a curve, and the curve may be added or reduced by operation.

Moreover, it may be possible to rotate the tip of the instrument around its own axis, even in a curved state. The MTS may have an end agonist at the tip of the TBDP, in which case the MTS is configured so that the end agonist is rotatably fixed relative to the TBDP and the end agonist is the TBDP. Can rotate by the complementary rotation of TBPP when is in a curved position. The end actuator may be rotatably secured to the TBDP by a lockable element configured to rotatably adjust the TBDP and rotatably secure the end agonist to the TBDP.

The MTS has a plurality of vertical members (LM), each having a proximal end and a distal end, and vertically arranged around an aerial tube. The fictitious tube is a geometric shape with the LM positioned around it. Preferably, it is vertically elongated. It preferably has a circular cross section, which is essentially orthogonal to the vertical axis. The central axis (A'-A) of the aerial tube is preferably coaxial with the central axis of the maneuverable device. The fictitious tube is preferably cylindrical. The fictitious tube has a diameter smaller than the diameter of the maneuverable device in the corresponding attitude.

The LM described here has a proximal end and a distal end. The tip is equipped with an LM flexible tip (LMBDP) provided in the TBDP of the MTS. The LM comprises an LM shaft region (LMSR) provided in the corresponding TSR of the MTS. The LMSR is adjacent to the LMBDP. The base end may be provided with an LM flexible base end provided on the TBPP of the MTS.

The tips of the LM are maintained in a fixed relationship with each other in the MTS. The tip of the LM, more preferably the end of the tip of the LM, may be connected to the tip LM fixing element. Preferably, the tip LM fixing element maintains the LM at each of those exercise positions, eg, it may maintain the end of the tip of the LM in an annular ring. The tip LM fixing element may be, for example, a disc or an annulus provided at the tip of the MTS.

Similarly, the ends of the LM, and more preferably the ends of the LM, may be maintained in a fixed relationship with each other in the MTS. The proximal end of the LM may be connected to the proximal LM fixing element. Preferably, the proximal LM fixing element maintains the LM at their respective circumferential positions, for example, it may maintain the distal termination of the LM in an annular ring. The proximal LM fixing element may be a disc or annulus provided at the proximal end of the MTS.

The LMs are slidable with each other to the extent that movement is restricted by the LM fixing element. The application of pushing and pulling forces at the proximal end of the MTS is transmitted via the LM to the LMBDP along the LMSR, causing, for example, the movement of the TBPP by pulling or pushing the fixation element of the anterior procedure. The number of LMs in MTS is at least 2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20 or more. You may. For omnidirectional maneuvering, it is preferred that there are at least 4 and more preferably at least 6 or 8 LMs.

The dimensions of the LM depend on the diameter and length of the maneuverable equipment and the number of LMs used. In general, the LM may have a thickness in one direction of 40 μm, 50 μm, 60 μm, 80 μm, 100 μm, 200 μm, 400 μm, or 500 μm, or a value in the range between any two of the above values. Good. LM has widths of 80 μm, 100 μm, 120 μm, 140 μm, 160 μm, 180 μm, 200 μm, 300 μm, 400 μm, 500 μm, 600 μm, 700 μm, 800 μm, 900 μm, 1000 μm, 1100 μm, 1200 μm, 1300 μm, 1400 μm, or 1500 μm, or the values described above. It may have a value in the range between any two. Those skilled in the art will understand how to choose the appropriate thickness and width depending on the diameter of the MTS. For an MTS with a diameter of 10 mm, in LMBDP, LMSR, and in some cases LMBPP, the preferred thickness is 280 μm to 320 μm, preferably about 300 μm, and the preferred width is 480 μm to 520 μm, preferably about 500 μm. The length of the MTS depends on the length of the maneuverable device and its use. The above preferred dimensions apply to MTSs with a length of 37-40 cm.

LM has suitable extensibility and is made from suitable materials that can be estimated by those skilled in the art. Examples include stainless steel, nitinol, beta titanium, spring steel or polymers.

The LM may be made from a single strand of material, for example a single strip of stainless steel. It may also be made from multiple strands of vertically connected material.

The LM is placed vertically around the fictitious tube. The LMs may be evenly distributed around the fictitious tube, for example, the distances between adjacent LMs may be essentially the same. The LMs may be symmetrically distributed around the fictitious tube, for example, there may be a plane symmetrical about the longitudinal section of the fictitious tube. The LMs may be unevenly distributed around the fictitious tube, for example, the distance between two adjacent LMs may differ.

The LM is preferably provided essentially along the length of the MTS and maneuverable equipment. It extends across TBDP and into TSR and TBPP if present.

The LMs are preferably arranged so that their vertical axes are parallel to each other. The LMs are preferably arranged so that their vertical axis is parallel to the vertical axis (A-A') of the fictitious tube. The LMs are preferably arranged so that their vertical axis is parallel to the vertical axis of the longitudinal maneuverable device.

At least one planar cross section of the LM exhibits the anisotropic moment of inertia of area. The plane cross section is typically a cross section orthogonal to the vertical central axis (z) of the LM (see Figure 3).
Anisotropy relates to axes (x, y) that intersect at the center of gravity of the plane cross section and are orthogonal to each other. The center of gravity is understood to be the geometric center of the outer contour of the plane cross section, especially the plane cross section. When the plane cross section has an essentially rectangular contour, the x and y axes are aligned parallel to the sides of the rectangular straight line, and the x-axis is positioned so that the moment of inertia of area with respect to the x-axis is maximized. When the plane cross section has an irregular contour, the x-axis is positioned so that the moment of inertia of area is maximized with respect to the x-axis. The ratio (Ir) of the moment of inertia of area (Ir) with respect to the x-axis (I _x ) and y-axis (I _y ) across the center of gravity of the plane cross section of the LM is greater than or equal to about 1.1, 1.5, 2, 2.5, 3 , 3.5, 4, 4.5, 5, 5.5, 6, 6.5, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20 or more, or the values mentioned above. It is preferable that the value is in the range between any two of. As a general guidance, for invasive surgical instruments found by the inventors, the Ir is between 1.1 and 4, preferably between 2 and 3, thereby resisting rotational forces. It provides a stable TBDP that is easily curved and obedient, yet avoids kinematically chained states of unwanted helices.

At least one planar section may be in the LMBDP. The LMBDP preferably exhibits anisotropic properties in a large number of planar cross sections, preferably in the majority or almost every position along the length of the LMBDP. The LMBPP preferably exhibits anisotropic properties in a large number of planar cross sections, preferably in the majority or almost every position along the length of the LMBPP. The LMSR preferably exhibits anisotropic properties in a large number of planar cross sections, preferably in the majority or almost every position along the length of the LMSR. According to one aspect, 1-10% of the length from the tip of the LMBDP and TSR exhibits anisotropic properties in the majority or almost all plane cross sections. 1-10% of the length from the tip of LMBDP and TRS, 1-10% of LMBPP and 1-10% from the tip of TSR exhibit anisotropic properties in the majority or almost all plane cross sections.

Preferably, the LM is the central axis (A-A') of the MTS or maneuverable device's fictitious tube whose axis (typically the x-axis) has the higher moment of inertia of area. It is oriented so that it extends toward.
While such an axis extends towards the central axis (A-A'), it may or may not intersect the central axis A-A'. It deviates from the central axis, for example, the X axis is 10 degrees with respect to the virtual line drawn between the central axis (A-A') of the MTS fictitious tube and the center of gravity of the plane cross section (see Figure 22). , 20 degrees, 30 degrees, 60 degrees may be taken (alpha). In other words, in the LM, the axis with the lower moment of inertia of area (typically the y-axis) essentially faces the central axis (A-A') of the MTS or maneuverable instrument fictitious tube. It is preferable that the orientation is such that.

Typical contours (outer dimensions) of the plane cross-section showing the aforementioned anisotropic moment of inertia include a rectangle, the letter "I", and a sector (eg, a semicircle, a quarter circle). One or more, preferably all of the corners of the contour, are preferably pointed (eg, square) or rounded. In the case of a rectangular LM, the radius of the corner may be up to 10%, 20%, 30%, 40%, 50% of the length of the short side of the rectangle. Typically, it is between 10 μm, 20 μm, 30 μm or more, such as between 10 μm and 200 μm.

The moment of inertia of area is also known as the second moment of inertia, the plane region moment of inertia, the region pole moment or the second region moment. For LM of uniform material, the property of anisotropy is necessarily determined by the outer shape of the plane cross section. It is calculated from the shape of the plane cross section using techniques well known in the art. For example, I _x and I _y can be calculated using Equations 1 and 2, where x and y are the coordinates of different elements of dA, A is the area of the plane cross section, and x and y axes are planes. Cross at the center of gravity of the cross section.

I _x = ∫ y ² dA [Equation 1]
I _y = ∫ x ² dA [Equation 2]

The LM, which has an isotropic moment of inertia of area, facilitates omnidirectional movement in TBDP and TBPP, which works in the circumferential direction to apply the bending pulling and pushing forces of the LM in TBDP. This is because it is necessary that not only the LM (ventral and dorsal LM) but also the LM placed between the operating LMs, that is, the lateral LMs, can be curved in all directions. LMs with isotropic moment of inertia of area are preferred in the art because they reduce the bending resistance of these lateral LMs. On the contrary, the inventors have an anisotropic cross-sectional moment of inertia and require a large force to bend the lateral LM in TBDP and TBPP, and the lateral LM is inside the curvature. We have found that the MTS allows it because it curves with a larger radius than the LM located in.

Furthermore, the inventors have found that when an LM having an anisotropic moment of inertia of area is used, the axial rotation of the TSR is simultaneously transmitted to the TBDP. This means that when an LM with an isotropic moment of inertia of area is used, there is no rotation delay, also known as backlash or play, before the motion is transmitted to the tip of the TBDP. is there. For example, if the mechanical transmission means comprises a vertical member with a circular cross-sectional contour, the axial rotation of the end actuator with respect to the shaft results in a twist of the individual vertical members, which is applied to one end of the maneuverable device. This means that the torque is absorbed by the circular contour vertical member and is not transmitted to the other end (see FIG. 13). The opposite rotational force, which is inversely proportional to the length of the twist, is induced. For maneuverable instruments with a flexible tip of 20 mm and a shaft area of 400 mm, a 45 ° twist of the circular contour longitudinal member spreads over a distance of 420 mm, giving significant backlash or play. The surgeon must apply additional torque before the slack occurs.

When anisotropic LMs are used for the same mechanical transmission system, the anisotropy provides each LM with high resistance to twisting, thus reducing twisting in each LM. This effect is enhanced when combined with the LM Guides described below, which constrain each LM to prevent or suppress shaft rotation. Therefore, the amount of backlash is reduced.

From a preferred point of view, it is preferred that in a plurality of LMs all LMs are constrained to rotate axially at one or more constraint points (or regions) along the vertical axis of the MTS fictitious tube.

Preferably, there is at least one constraint point along the TBDP or TSR. At least one constraint point along the TSR is provided at the tip half of the TSR, preferably at 25% or 10% of the total length of the TSR at the tip of the TSR, and in some cases at the end of the tip of the TSR. May be done. The restraint points provided along the TSR may be limited to the tip half of the TSR, preferably 25% or 10% of the total length of the TSR provided at the tip of the TSR, and in some cases to the end of the tip of the TSR. .. Preferably, there are at least two constraint points, at least one on the TSR and at least one, two, three or four along the TBDP.

Preferably, there is at least one constraint point along the TBPP or TSR.
At least one constraint point along the TSR is at the proximal half of the TSR, preferably at 25% or 10% of the overall length of the TSR provided at the proximal end of the TSR, and in some cases at the proximal end of the TSR. It may be provided at the end. Constrain points provided along the TSR are limited to the base half of the TSR, preferably 25% or 10% of the total length of the TSR provided at the base of the TSR, and in some cases to the end of the base of the TSR. You may. Preferably, there are at least two constraint points, at least one on the TSR and at least 1, 2, 3 or 4 along the TBPP.

There are at least four constraint points, at least one along the TBDP and at least one on the tip half of the TSR, preferably 25% or 10% of the total length of the TSR on the tip of the TSR, and in some cases At the end of the tip of the TSR, along the TSR, at least one along the TBPP, at least one at the base half of the TSR, preferably 25% of the total length of the TSR at the base of the TSR or 10%, and in some cases, at the end of the base of the TSR, along the TSR.

In TBDP or BDP (or TBPP or BPP), the constraint points are separated. Separation means that it is separated at intervals in the direction of the central vertical axis (A-A') of the fictitious tube. The separated restraint points are separated at intervals in the direction of the central vertical axis (A-A') of the fictitious tube in TBDP, BDP, TBPP (or existing BPP).

In TSR or SR, the restraint points may or may not be separated. When not separated, they may be provided, for example, as continuous vertical passages in the direction of the central vertical axis (A-A') of the TSR or SR fictitious tube.

It is recognized that the aforementioned constraints differ from any constraint effect given by the LM fixed element. The LM fixing element fixes the position of the LM and does not allow the LM to slide with each other (eg, the tip LM fixing element 113 in FIG. 12).

For multiple LMs, it makes the LMs slidable with each other at each constraint point. As described below, constraints may be provided by LM guides, especially TBDP or BDP (and existing TBDP or BDP) or fixed LM guides in SR or TSR.

From another point of view, the constraining points may be in an essentially fixed reciprocal rotation array. They are in an essentially interconnected axial rotation array along the fictitious tube. The axis (A-A') angle of rotation between adjacent (neighboring) constraint points along the fictitious tube is essentially due to an essentially interconnected or essentially fixed mutual axis rotation array. Means fixed or restricted. For multiple restraint points arranged vertically along the fictitious tube, the radial angle of the LM with respect to the central vertical axis (A-A') of the fictitious tube is the same at each restraint point in the active or inactive state. Remains. The restraint points may be in an essentially fixed arrangement when no workload is applied to the MTS or maneuverable equipment.

According to one aspect of the invention, a radial line across a separate constraint point at the end of the TBDP tip is compared to a radial line across the constraint point at the end of the TBDP base or at the tip of the TSR. The restraint points are in an essentially fixed reciprocal rotation arrangement, indicating a deflection angle of 30 degrees or less, preferably 25 degrees, epsilon along the vertical axis of the fictitious tube (1-A, FIG. 23). See 1-E). The radial line extends radially from the central vertical axis (A-A') of the fictitious tube and is orthogonal to the central vertical axis thereof. For the constraint points in question (eg passages), the intersections are the same for ease of comparison.

According to one aspect of the invention, a radial line across a separate constraint point at the end of the TBPP tip is compared to a radial line across the constraint point at the end of the TBPP base or at the base of the TSR. The constraint points are in an essentially fixed reciprocal rotation arrangement, indicating a deflection angle of 30 degrees or less, preferably 25 degrees, epsilon along the vertical axis of the fictitious tube. The radial line extends radially from the central vertical axis (A-A') of the fictitious tube and is orthogonal to the central vertical axis. For the constraint points in question (eg passages), the intersections are the same for ease of comparison.

From another point of view, the radial line intersecting the separated constraint points is less than 10 degrees, preferably 5 degrees, compared to the adjacent (closest) isolated constraint points along the vertical axis of the fictitious tube. Degree deflection angle, showing epsilon. (See I-C and I-D in Figure 23). The radial line extends radially from the central vertical axis (A-A') of the fictitious tube and is orthogonal to the central vertical axis thereof. Between adjacent constraint points (eg, passageways), the intersections are the same for ease of comparison. Moreover, the separate constraint points in TBDP or BDP (and TBPP or BPP) are fixed so that they rotate essentially axially with each other along the fictitious tube, so they are constraint points in SR or TSR. Also, it may be fixed so as to rotate essentially in the axial direction.

An essentially fixed reciprocal rotation sequence in TBDP or BDP (and TBPP or BPP) may be given, for example, by the presence of an LM that limits the amount of rotation between adjacent LM guides.

Essentially fixed reciprocal or translocated sequences in TBDP or BDP (and TBPP or BPP) are, for example, when swings between LM guides linked to adjacent articulations are restricted or blocked, as described below. , May be provided by an articulated LM Guide.

An essentially fixed reciprocal rotation array in SR or TSR is given by a fixed LM guide, for example, when the deflection of the adjacently fixed LM guide is restricted or blocked as described below. May be good.

The separate constraint points in TBDP or BDP (and TBPP or BPP) are essentially fixed reciprocal rotation arrangements, which can further contribute to the reduction of backlash.

The stiffness of the joint obtained in DBP largely depends on the anisotropic moment of inertia of area (I _y ) of LM. Other factors, including modulus of elasticity, shear modulus, number of LMs, distance of LM to the central axis of MTS, length of LM, moment of inertia of area, can affect its stiffness.

The force acting in the opposite direction is proportional to the moment of inertia of area (I). The moment of inertia of area is related to the length of the long side of the plane cross section of the LM with respect to the third force. This explains why it is advantageous to use, for example, an "I" -shaped contoured LM with long and short sides. The long sides of the plane section produce a higher moment of inertia of area for the same cross-sectional area compared to standard round control wires. We call this the "flat ruler" effect. Such a flat ruler can be easily bent in one direction. But in the other direction, it's very rigid. That is the rigidity of the latter, which prevents axial deformation and eliminates backlash in this system.

According to the contour of the LM, the LM cannot rotate freely at the constraint point. When the LM touches the wall of the aisle (eg, Figure 22B), rotation is blocked and a second effect causes the strip to twist around the Z-axis (see Figure 3). Its torsional constant (the measure of resistance to torsion) is called the moment of inertia of area and is equal to the sum of I _x and I _y (the moment of inertia of area, the measure of resistance to curvature). There is a third effect that occurs when the LM hits the wall of the LM Guide in the X-direction only (Figure 22A, eg, when the LM moves to the left, the LM touches the wall of the LM Guide). This condition is encountered very quickly because the LM Guide is placed near the outer surface of the instrument at a radial distance well above the thickness of the LM. The LM Guide bends beyond the side with the largest bending resistance (second moment of anisotropic cross section) (see 110 in FIG. 14). The torsional constant for this effect depends on the square of the instrument radius (distance from the center of the LM to the instrument center axis), I _y, and the square of the LM length (distance between the two constraint points). Inversely proportional. This third effect is very important because the distances between the restraints are on the same order as the radius of the instrument, I _y is higher due to anisotropy, and the radius is larger than the dimensions of the cross section. The third effect is much greater than the second effect, which explains the advantages of the anisotropy feature of LM.

A rectangular contoured LM with a thickness of 300 μm and a width of 530 μm has, for example, the same cross-sectional area of a round wire with a diameter of 437 μm. However, the moment of inertia of area on the long side of the rectangular strip (in the direction parallel to the outer circumference of the instrument) is twice the moment of inertia of area of the round wire, and the rotational rigidity of TBPP and BPP is doubled. To do.

Anisotropic moment of inertia of area not only reduces axial rotation and thus backlash, but also reduces the formation of helical kinematic chains within LMBDP (TBDP and BDP) or LMBPP (TBPP and BPP). Spiral kinematic chains are an undesirable form in LMBDP or LMBPP, where articulated LM guides are the most coming LM guides, even though they are constrained to rotate with each other. Takes a mechanically fixed form in which the center line is off the center line in a warped state compared to the most advanced LM guide (see Figures 21A and 21B). Such a fixed form appears when the LM Guide constitutes a kinematic chain that follows a spiral trajectory (see Figures 21A and 21B).
All omnidirectional instruments based on LM Guides articulated in a series tend to decrease. In the case of surgical instruments, this results in a rotation between the shaft and the flexible tip of the end. In surgery, this loss due to the transmission of the warped state is highly undesirable. The inventors of the present invention have found that an LM having an anisotropic moment of inertia of area avoids the formation of this fixed form. The effect is enhanced when the constraint points in SR (TSR) and TBDP (BDP) and TBDP and BDP are arranged in an essentially fixed reciprocal rotation arrangement.

The LMs inside and outside the curved TBPP or BPP bend, the major LMs involved in force transmission, are curved on the axis with the smallest moment of inertia of area. Side-mounted or lateral LMs that are not directly involved in force transmission must be curved on a more rigid axis (see Figure 12). For a diameter of 10 mm, the TBPP or BPP bends at 90 ° with an inner radius of curvature of 5 mm and a central radius of curvature of 10 mm. Therefore, the unfavorable curvature on the long side of the anisotropic LM can be compensated for by increasing the radius of curvature.

The MTS may be equipped with multiple LM guides (eg, 2-30, 3-20) configured to support and maintain an array of LMs around the fictitious tube. In particular, multiple LM guides maintain a large number, preferably all LMs, in a constant circumferential position on the fictitious tube. Maintaining a constant circumferential position means that the radial angle formed by the LM with respect to the central long axis (A-A') of the fictitious tube is essentially constant, and the central long axis (A-A') of the fictitious tube. It means that the radial distance of LM from') is essentially constant. The TM guide is configured to maintain an essentially constant circumferential position in the activated and inactive states.

In particular, the plurality of LM guides may constrain a large number, preferably all LMs, to rotate axially, especially in PBDP (and TBPP) and in TSR. Rotating the LM in the axial direction means that the rotation around the long axis of the LM is constrained, for example, at a constraint point. The LM Guide is configured to maintain an essentially constant axial rotation angle when activated or inactive. The axis rotation angle, beta (see FIGS. 22A and 22B), indicates, for example, the angle taken by the plane cross section of the LM within the constraint point. The plane cross section is typically a cross section orthogonal to the vertical central axis (Z) of the LM (see FIGS. 22A, 22B). The axis rotation angle, beta, relates to the x-axis of the mutually orthogonal axes (x, y) orthogonal to the center of gravity of the plane cross section, and the axis forms a plane that is parallel to and exists on the plane cross section. Its center of gravity is understood to be the geometric center of the outer contour of the plane cross section, especially the plane cross section. When the plane cross section has an essentially rectangular contour, the x and y axes are aligned parallel to the straight sides of the rectangle, and the x axis is aligned so that the moment of inertia of area with respect to the x axis is maximized. .. When the plane cross section has an irregular contour, the x-axis is aligned so that the moment of inertia of area is maximized with respect to the x-axis. Beta is a change in the angle of the x-axis (for example, x'is compared to x in Figure 22B). Beta typically deflects between ± 45 degrees with respect to an essentially constant angle of rotation, i.e., when the LM is constrained to rotate about the axis.

The LM Guide in BDP / TBDP (and BPP / TBPP) further pushes the LM to an essentially constant circumferential position on the fictitious tube to constrain the LM to rotate about its axis. To hold, it has the aforementioned separate restraint points for the LM, and the LM is slidable in the longitudinal direction with respect to each separate restraint point. For multiple LMs, it allows the LMs to slide relative to each other at each of the separate constraint points.

Similarly, the LM Guide in the shaft region or TSR is to constrain the LM to rotate along its axis and to further maintain the LM in an essentially constant circumferential position on the fictitious tube. In addition, it is equipped with the above-mentioned separated restraint points for LM, and the LM can slide in the vertical direction with respect to each separated restraint point. For multiple LMs, it allows the LMs to slide relative to each other at each of the separate constraint points.

Some LM guides (here "jointly articulated guides") may be articulated to each other, especially pivoted to each other, thereby supporting the curvature of the LM, similar to wrist fittings. Articulated LM guides may be provided on the TBDP and TBPP, corresponding to the BDP and BPP of the maneuverable device. The articulated LM Guide may be articulated on one or both sides.

One or more LM guides (here "fixed LM guides") may be fixed to rotate with respect to each other, thereby maintaining a fixed (non-curved) course of the LM. They may be fixed to rotate relative to each other so as to reduce the flexibility of the TSR compared to the flexibility of the TBDP. Fixing to rotate prevents mutual rotation on any of the three axes (eg, rolling, pitching, yawing). A fixed LM guide may be provided on the TSR corresponding to the SR of the maneuverable device to produce an essentially rigid or semi-rigid TSR.

As mentioned above, the TSR can be rigid or semi-rigid when cooperating with a rigid or semi-rigid outer or outer tube. That is, the TSR is flexible. Rigidity can be imparted by inserting into a rigid or semi-rigid tube, or by mounting a rigid or semi-rigid tube around the TSR. Therefore, the articulated LM Guide can be installed in the TSR, corresponding to the SR of the maneuverable device.

The LM Guide comprises a body having an outer edge or surface connecting the distal end side to the proximal end side and the distal end side to the proximal end side.

In an articulated LM guide, the body is preferably substantially disc-shaped, for example, as shown in FIG. The disc may be provided with a socket on the distal end side and a protrusion (eg, a ball) for engaging with an adjacent LM guide on the proximal end side. Therefore, adjacent articulated LM guides form balls and sockets for mutual pivoting. As a general guidance for instruments such as surgical instruments, discs are 0.1 cm, 0.2 cm, 0.3 cm, 0.4 cm, 0.5 cm, 0.6 cm, 0.8 cm, 1 cm, 1.2 cm, 1.4 cm, 1.6. It can have a diameter between cm, 1.8 cm, 2 cm or any two of these values, preferably between 0.2 cm and 1.6 cm. Discs without protrusions can have a value between any two of 0.02 cm, 0.15 cm, 0.2 cm, 0.4 cm, or future values, preferably between 0.1 cm and 0.2 cm. ..

In a fixed LM Guide, the body is preferably substantially cylindrical, with both ends of the cylinder on the tip and base ends. As a general guidance for instruments such as surgical instruments, cylinders are 0.1 cm, 0.2 cm, 0.3 cm, 0.4 cm, 0.5 cm, 0.6 cm, 0.8 cm, 1 cm, 1.2 cm, 1.4 cm, 1.6 cm, It can have a diameter of 1.8 cm, 2 cm or more, or a value between any two of these values, preferably between 0.2 cm and 1.6 cm. The diameters of the articulated LM Guide and the fixed LM Guide may be the same.

The length of the cylinder is, for example, 0.5 cm, 0.6 cm, 0.8 cm, 1 cm, 2 cm, 3 cm, or more, or a value between any two of these values, preferably between 1 cm and 3 cm. It may be a value. It is preferable that there are multiple fixed LMs arranged side by side, but it is within the scope of the invention that a single long fixed LM guide is provided on the TSR corresponding to the SR of the maneuverable device. is there.

The body of the LM Guide, whether it is an articulated LM Guide or a fixed guide, is molded or machined as an integral part, for example, to avoid combining multiple elements. It is preferable that it is a manufactured one-item element.

The body comprises an array of two or more passages, eg, 2, 3, 4, 5. The number of passages can depend on the size of the appliance. 18-40 or more passages are foreseen. The passage has a hollow space in the body of the LM Guide, which is articulated. The passage leads from the tip end side of the main body to the base end side. The passage preferably has a central axis from the distal end side to the proximal end side of the body, parallel to the central axis of the LM Guide. One aisle can accommodate one, two, or more LMs, preferably only one LM. The passage acts as a restraint point. The passage is sized to constrain the LM, especially to prevent radial movement with respect to the central axis of the body. The passage is sized to constrain the LM, in particular to prevent axial rotation, that is, rotation around the center (Z) axis of the LM. Each passage is further configured to maintain the LM in an essentially constant circumferential position on the aerial tube. The passages are sized to facilitate vertical sliding movements through the LM passages. The passage may be arranged around the fictitious tube. The fictitious tube corresponds to the fictitious tube of MTS. The passages are separated from each other. The passage can be provided with a transverse contour that complements the contour of the contained LM. The transverse contour is orthogonal to the central axis of the passage. For example, if the LM has a rectangular contour, the passage can have a rectangular contour. The aisle contour does not have to accurately reflect the LM contour, for example, the LM contour of a racing track may be confined by a rectangular aisle.

The plurality of LM guides are arranged side by side in the front-rear direction, that is, the tip side of one LM guide faces the base end side of the adjacent LM guides. An example of an articulated LM guide arranged side by side in front and behind is shown in FIG. The front-to-back arrangement of the articulated LM Guides serves to constrain the LM at a number of separate restraint positions along the vertical axis of the MTS fictitious tube. Give 2 or more (eg, 3, 4, 5, 6, 7, 8, 9, 10 or more) separate constraint points 2 or more (eg 3, 4, 5, 6, 7, 8, 9, or more) There may be articulated LM guides arranged side by side in front of and behind (10 or more). Preferably, there are 7 or more front-to-back, articulated LM guides that give 7 or more separate restraint points.

LM Guides that are articulated in multiple joints are articulated (in pairs) with each other. Preferably, the articulated LM guides are in contact with each other (in pairs). It is preferred that the relative rotation of the LM guides connected to the adjacent articulations (ie, the deflection or axial rotation between the LM guides connected to the adjacent articulations) be blocked or restricted. Preventing or limiting the yaw causes the separated restraint points to be essentially fixed reciprocal alignment along the aerial tube. From one point of view, the radial line that intersects the separate constraint points (eg, passages) of the LM Guides connected to one articulated is 10 degrees compared to that of the LM Guides connected to the adjacent articulated. Hereinafter, the deflection angle of 5 degrees and epsilon are preferably shown (see FIG. 23). The radial line exits from the central vertical axis (A-A') of the fictitious tube and is orthogonal to it. Between adjacent LM Guides, the intersections for separate constraint points (eg, passages) are the same for ease of comparison.

Preferably, the articulated LM guides contact adjacent (adjacent) LM guides using a swivel joint such as a ball socket type joint. There may be one ball-socket type joint for a pair of articulated LM guides. A swivel joint swivels an articulated LM guide with respect to an adjacent articulated LM guide. A swivel joint can allow two degrees of freedom of movement, roll and pitch, for adjacent articulated LM guides. The swivel joint can allow some relative rotation of the adjacent articulated LM guides (ie, deflection or axial rotation between the adjacent articulated LM guides). Prevention and limitation of yaw is preferable, but as already mentioned, it is not always necessary from the viewpoint that the use of LM having an anisotropic moment of inertia of area prevents play of rotation. However, it is also within the scope of this invention. It is preferable that the swivel joint does not allow the relative rotation of the LM guides connected to the adjacent joints (ie, the deflection or axial rotation between the LM guides connected to the adjacent joints). Anti-sway or limitation is, for example, rotation, which is a protrusion on the body of a single articulated LM Guide that is provided on the body of an adjacent articulated LM Guide but is accepted by a recess. This can be achieved by using a limiter, that is, by coupling, the axis rotation of one LM guide with respect to the adjacent LM guide is prevented.

Multiple fixed LM guides are in a fixed relationship (in pairs) with each other. They preferably have a fixed rotational relationship. They preferably have a fixed distance relationship. Preferably, the plurality of fixed LM guides are in contact with each other (in pairs). Multiple fixed LM guides are configured to reduce the flexibility of the TSR compared to the flexibility of the TBDP.

Relative rotation of adjacent fixed LM guides (ie, yaw and axial rotation between adjacent fixed LM guides) is prevented with respect to the LM guides that are articulated adjacent. Yaw arrest allows the separated restraint points to be an essentially fixed reciprocal rotation array along the fictitious tube.

The plurality of LM guides are arranged side by side in a row so that the circularly arranged passages are arranged in a row, so that each can receive one (possibly two or more) LMs.

Preferably, the articulated LM Guide is substantially disc-shaped and has 10 to 20 passages, each passage is configured to accommodate only one LM, and each passage has a rectangular contour. The long sides of the rectangle are oriented so that they face the central axis of the LM Guide, and the passages are arranged around an imaginary circle.

Preferably, the fixed LM guide is substantially cylindrical and has 10 to 20 passages, each passage is configured to accommodate only one LM, each passage has a rectangular contour and a rectangular length. The sides are oriented so that they face the central axis of the LM Guide, and the passages are arranged around an imaginary circle.

Each passage is configured to constrain the LM to reduce or prevent axial rotation and maintain a radial position with respect to the central axis (A-A') of the LM Guide.

The MTS is equipped with an end actuator, the end actuator fixed to rotate with respect to the LMBDP.
The end actuator may be configured to be rotatable by the complementary rotation of the LMBPP when the LMBDP is in a curved position. Therefore, the maneuverable device is configured such that the end actuator is fixed to rotate with respect to the BDP and the end actuator is rotatable by the complementary rotation of the BPP when the BDP is in a curved position. You may. An actuator end that is fixed to rotate can be achieved by permanent bonding to the tip of the LMBPP or BDP, for example by welding or gluing, in which case when the end actuator is fixed in place. It is fixed to rotate.

In the following description, drawings showing specific embodiments of the present invention are cited, but those drawings are not in any way limiting the invention. It will be appreciated by those skilled in the art that those ordinary skill in the art can modify the device to replace its components and functions.

FIG. 1 shows an exploded view of the mechanical transmission system (MTS) 100 of the present invention having a base end 20 and a tip end 40 and a central vertical axis A-A'. The MTS100 comprises a plurality (ie, four) longitudinal members (LMs) 110 vertically arranged and evenly spaced around a cylindrical longitudinal fictitious tube 120. The MTS100 is either inherently rigid or semi-rigid in the transmission flexible tip (TBDP) 130 and the shaft region of the maneuverable device, or rigid or semi-rigid in the shaft area of the maneuverable device in cooperation with the outer tube. It is equipped with a transmission shaft region (TSR) 132 that maintains rigidity.

FIG. 2 shows the MTS100 of FIG. 1 in which the TBDP130 is curved and the TSR132 remains in the same linear form.

FIG. 3 shows two intersecting axes 116 (x-axis) and 118 (y-axis) on a planar cross-section 114, which is a planar cross-section of the LM110 at position 112 in FIG. Have. These axes intersect at a point 111, which is the center of gravity of the contour (outer shape) of the plane cross section 114. The axes 116 and 118 are orthogonal to each other. The axis 116 (x-axis 116) in which the LM has a higher moment of inertia of area around it is oriented such that the axis 116 is essentially radial to the central axis (A-A') of the MTS. The z-axis orthogonal to both the x-axis 116 and the y-axis 118 is also shown.

FIG. 4 shows the present invention comprising a proximal and tip 20,40, a transmission flexible tip (TBDP) 130, a transmission shaft region (TSR) 132, and a transmission flexible proximal (TBPP) 134. The appearance of MTS100 is shown. Transmission shaft area (TSR) 132 includes multiple fixed LM guides 305, 350', 350 ", each LM guide has a constraint point for LM axis rotation, and each LM has each LM guide 305, 350". It can slide vertically with respect to', 350'. The TBDP130 and TBPP134 have multiple LM guides 305, 350', 350 ", 305a, 350a', 350a" articulated, each LM guide with a separate axial rotation constraint point for the LM and each LM. Can slide vertically with respect to each LM Guide 305, 350', 350 ", 305a, 350a', 350a".

FIG. 5 shows the MTS100 of FIG. 4, in which the TBPP134 is actuated to bend, its movement is transmitted by the MTS to the TBDP130 along the TSR132, and the TBDP130 is curved in response.

FIG. 6 shows the semi-circular cross section of the LM (ie the plane section 114) and the intersecting x and y axes around which the moment of inertia of area is measured, which axes are the centers of gravity of the sections. Intersect at point 111. The ratio calculated by Equation 1 and Equation 2 is I _x / I _y = 3.57.

Figure 7 shows the rectangular cross section of the LM (ie, the plane section 114) and the intersecting x and y axes around which the moment of inertia of area is measured, the points where those axes are the centroids of the section. Meet at 111. The ratio calculated by Equation 1 and Equation 2 is I _x / I _y = 4.

Figure 8 shows the LM's "I" -shaped cross section (ie, plane section 114) and the intersecting x and y axes around which the moment of inertia of area is measured, which axes are the centroids of the section. It intersects at point 111. The ratio calculated by Equation 1 and Equation 2 is I _x / I _y = 9.2.

FIG. 9 shows the cross section of the LM rounded rectangle (ie, the plane section 114) and the intersecting x and y axes around which the moment of inertia of area is measured, which axes are the centroids of the section. It intersects at point 111. The ratio calculated by Equation 1 and Equation 2 is I _x / I _y = 4.

FIG. 10 shows the cross section of the LM track (ie, plane section 114) and the intersecting x and y axes around which the moment of inertia of area is measured, which axis is the center of gravity of the section. It intersects at point 111. The ratio calculated by Equation 1 and Equation 2 is I _x / I _y = 4.

FIG. 11 shows a side view of the mechanical transmission means 50 which is not the present invention. The mechanical transmission means 50 has a base end 20 and a tip end 40, and is a vertical member connected to the tip vertical member fixing element 55 at the tip end. Formed using 52,52', 52 ". The transmission shaft region comprises a fixed vertical member guide 64. The cross sections of the vertical members 52, 52', 52" are circular plane cross sections 56, respectively. , 56', 56 ". Each curvature of the vertical member 52, 52', 52" specifically relates to these vertical members, eg 52, which are separated from the vertical member 52', 52 "that causes the bending motion. Clearly facilitated by circularly contoured vertical members with an isotropic geometric moment of inertia. Therefore, all vertical members 52,52', 52 "are different for each vertical member, eg 52,52', 52". It curves in a relative direction, but with equal resistance (see arrow 58,58', 58 "direction with respect to orientation marks 60,60', 60").

FIG. 12 shows a side view of the MTS100 of the present invention, which is formed using LM110, 110', 110 "having a proximal end 20 and a distal end 40 and being connected to the distal end LM fixing element 113 at the distal end. The transmission shaft region (TSR) comprises a fixed LM Guide 350. The plane section 114,114', 114 "of the LM110,110', 110" is indicated by an "I" -shaped contour. Each curvature of the LM 110, 110', 110 "has a planar cross section with an anisotropic moment of inertia, especially with respect to these LMs, eg 110, which are separated from the longitudinal members 110', 110" that cause the bending motion. Surprisingly unhindered by the LM with an "I" contour. Thus, each vertical member, eg 110, 110', 110 ", curves in relatively different directions (see arrow 158, 158', 158" directions, and the distant longitudinal members, eg 110, tend to have a greater moment of inertia of area. Although curved, all vertical members 110,110', 110 "curve without distortion or twisting.

FIG. 13 is a schematic view of the mechanical transmission means 50 of FIG. 11 which is not the present invention, and FIG. 13 shows vertical members 52, 52'in the tip bendable portion 64 when torque 62 is applied to the shaft region 66. , 52 "twist. Each vertical member 52,52', 52" has a circular contour and thus an isotropic moment of inertia of area. Therefore, the use of a circular vertical member causes backlash in torque transfer to the bendable tip 64 through the shaft region 66.

FIG. 14 is a schematic view of the MTS100 of FIG. 12 of the present invention, where FIG. 14 shows the LM110,110', 110 "at the transmission flexible tip (TBDP) 130 when torque 162 is applied to the TRS132. It shows that the twist is significantly less. Each vertical member 110, 110', 110 "has an" I "shaped plane cross section and thus an anisotropic cross section secondary moment. Therefore, the use of an "I" contour LM reduces or eliminates backlash when torque is transmitted to the TBDP 130 through the LM shaft region 132.

FIG. 15 is a schematic representation of the MTS100 of FIG. 14 of the present invention showing a single separated LM110. The figure shows the application of force (164) to the LM110 and the resistance to curvature due to the geometrical moment of inertia of area.

FIG. 16 shows the different curvature radii of the anterior LM110 ", the posterior LM110' and the lateral LM110 provided on the MTS100 in the TBDP130. The curvature radius 117a of the anterior LM110" located inside the curvature is the curvature radius of the lateral LM110. Smaller than 117b, the lateral LM110 has greater rigidity in the bending direction due to the anisotropic moment of inertia of area of the LM110.

FIG. 17 is a plan view of the disc-shaped LM Guide 300. The LM Guide 300 has a body 302 with four isolation passages 310 arranged around an aerial tube 320. The fictitious tube 320 corresponds to the fictitious tube 120 of FIG. Each passage 310 constrains the LM110. Each passage is considered a separate restraint point.

FIG. 18 is a side view of the LM Guide 300, which is an LM Guide 305 having a tip side 40 and a base end side 20 and connected in a disc-shaped articulated manner. The articulated LM Guide 300 has a body 302, which has a dome-shaped protrusion on the tip side 40, one of the pair of components forming the pivot joint, that is, a ball-like protrusion in a ball-socket joint. It has a unit 330. The body 302 further comprises, on the proximal side 20, another component of the pair of components forming the pivot joint, a recess 340 similar to the socket of a ball socket joint. Further, a pair of rotary limiters (332, 332') fixed to the dome-shaped protrusion 330 are shown, the rotary limiters radiating from the dome-shaped protrusion 330. They are coupled to a pair of grooves 340,340'connected to recesses 340 of the adjacent articulated LM Guides (not shown) to prevent mutual axial rotation of the adjacent articulated LM Guides. Each of the adjacent articulated LM guides has a separate restraint point (ie, passage), and a pair of rotary limiters is an essentially fixed reciprocal rotation array of separation restraint points along the fictitious tube. give.
FIG. 19 shows a maneuverable device 500 incorporating the MTS of the present invention. The maneuverable device 500 has a base end 20 and a tip end 40. The tip 40 comprises an end actuator (540) that is a gripper, and the proximal end 20 comprises a handle 550 that steers the tube to control the gripper. Also shown are a flexible tip (BDP) 530, a shaft region (SR) 532, and a flexible base end (BPP) 534.

FIG. 20 is a multi-articulated articulated structure having a base end 20 and a tip end 40, with four LM110s arranged around an aerial tube, each with a plurality of channels arranged in a row. Schematic of the MTS100 of the present invention, properly maintained on the TBDP130 by the LM Guides 305, 305', 305 ". One of the complementary pair elements of the pivot joint (dome-shaped protrusion 330) is the most advanced. It is shown in the LM Guide 300 ". The TSR132 comprises a plurality of front-to-back fixed LM guides 305, 305', 305 "that maintain the position of the LM110 in the TSR132.

FIG. 21A shows a flexible tip of a non-inventive mechanical conduction means 50 having a base end 20 and a tip 40. The mechanical conduction means 50 comprises circular contoured longitudinal members 52, 52'52 ", each of which has an isotropic geometrical moment of inertia, and the longitudinal members 52, 52' 52 "are articulated longitudinal members. The member guides 54, 54'54 "are constrained to radial circumferential positions. Adjacent vertical member guides 54, 54' 54" articulated are above each vertical member guide 54, 54' 54 ". The presence of a rotation limiter (not shown) prevents mutual axial rotation.

FIG. 21B shows the flexible tip of the mechanical conduction means 50 of FIG. 21A which is not the present invention, and the flexible tip has fallen into an undesired kinematically rigid spiral chain state. By the vertical member of the circular contour at the base end 20
52, 52 '52 "is twisted against the tip 40 despite the presence of a rotary limiter.

FIG. 22 shows two typical orientations of the vertical members 110a and 110b existing in the passage 310 or 310'of the LM Guide, and the x-axis of the plane cross section 114 of one vertical member 110b is the vertical member 110b. It has been shown that when constrained by the LM Guide Passage 310', it deviates by an angle alpha from the virtual line 115 drawn between the central axis (A-A') and the center of gravity 111 of the plane cross section 114. The other longitudinal member 110a does not deviate as such when constrained by the LM guide passage 310, i.e. the alpha is zero.

22A and 22B show the angle beta, which is the change in the axial rotation angle of the LM110. FIG. 22A shows the starting orientation of the axis (x) and FIG. 22B shows the axis (x') at one of the rotation limits in the passage 310. The angle beta is deflected between certain limits because the axial rotation angle of the LM110 is essentially constant, that is, because the LM constrains the axial rotation at separate constraint points.

I and II in Figure 23 are the TBDP (130) with multiple articulated LM guides (305B-E), the central axis of the fictitious tube (A-A'), and the fixed LM guide (305A). ) Is shown for TSR (132). In I, TBDP (130) is straight (inactive) and in II, TDBP (130) is curved (in operation). 23 Y and X represent a schematic plan view of the Separation LM Guide showing the deflection angle Epsilon. FIG. 23X shows the radial line (312X) of one LM Guide (305X) protruding from the central vertical axis (A-A') of the fictitious tube and crossing the passage 310X, and FIG. 23Y shows the other crossing the passage 310Y. The radial line (312Y) of the LM Guide (305Y) is shown. X and Y indicate the LM Guide where epsilon is measured between them. For example, if epsilon is a measurement of the deflection angle between two LM guides articulated adjacently, then X is I-C and Y is I-D. If epsilon is a measurement of the deflection angle between the most articulated LM guide and the most articulated LM guide in TBDP (130), then X is IB. Yes, Y is IE. If epsilon is a measurement of the deflection angle between the fixed LM guide of TSR (132) and the most articulated LM guide, then X is I-A and Y is I-E.

The angular difference and deflection angle between the radial lines (312X and 312Y) of each of these LM Guides is shown as epsilon. IA-IE in FIG. 23 are schematic plan views of the separated LM Guides in FIG. 23, which show deflection between adjacent LM Guides when the TDBP (130) is straight (not activated). Indicates that there is no (zero epsilon). II-A to II-E of FIG. 23 are schematic plan views of the separated LM guides of FIG. 23-II, and these figures show the adjacent LM guides when the TDBP (130) is curved (operated). It shows that there is no deflection between them (zero epsilon).

Claims (14)

A mechanical transmission system MTS (100) for the maneuverable device (500) , the maneuverable device (500) has a shaft area (532) and a flexible base end BPP capable of moving in all directions. Mechanical transmission system MTS (100) with (534) and a flexible tip BDP (530) that can move in all directions and moves in response to the movement of the flexible base BPP (534 ). Has a plurality of vertical members LM (110) , each having a proximal end (20) and a distal end (40) and arranged vertically around an aerial tube (120), and with a shaft region (532). , Flexible base end BPP (534), transmission shaft region TSR (132) corresponding to flexible tip BDP (530) , transmission flexible base end TBPP (134), and transferable It has a flexible tip TBDP (130), the plane cross section (114) of each vertical member LM (110) shows the geometrical moment of inertia of area, and each vertical member LM (110) is transmission flexible. tip TBDP (130) or the transmission shaft region lengthwise member LM (110) at one or more constraint points along the TSR (132) rotation around the axis of itself is limited, the vertical member LM (110) each It can slide vertically with respect to the separated restraint points.
One or more longitudinal members having mechanical transfer system MTS (100) is a configuration that limits the rotation about the longitudinal member LM (110) axis itself constraint points each of the plurality of longitudinal members LM (110) The vertical member guides (300) of the transmission flexible tip TBDP (130) or the transmission flexible base end TBPP (134 ) are further provided with guides (300, 305, 350), and a plurality of articulated joint guides (300) are provided. vertical member guide (305, 305'305 '), and the longitudinal member guide of the conduction shaft area TSR (132) (300) is vertically fixed a plurality of longitudinal member guide (3 50, 350', 350 ") flexibility compared to the reduce the flexibility of the conductive shaft area TSR (132) of the der I transmission flexible leader TBDP (130) or transmission flexible proximal end TBPP (134),
Mechanical transmission system MTS (100), the tip of the flexible leader BDP (530) is centered on the axis of the tip itself in the curved position by additional rotation of the flexible proximal portion BPP (534) rotation is possible mechanical transmission system MTS (100). At least one restraint point provided along the transmission shaft region TSR (132) is located in half of the tip of the transmission shaft region TSR (132) or at the tip of the transmission shaft region TSR (132). At least one other restraint point provided on 10% of the total length of the transmission shaft area TSR (132) and along the transmission shaft area TSR (132) is half of the proximal end of the transmission shaft area TSR (132) or is transmitted. The mechanical transmission system MTS (100) according to claim 1, which is provided at the base end of the shaft region TSR (132) at 10% of the total length of the transmission shaft region TSR (132). Rotation of the plurality of longitudinal members LM (110) each have at least one constraint points along the transmission flexible proximal end TBPP (134), further around the axis of the longitudinal member LM (110) itself MTS (100), the mechanical transmission system according to claim 1 or 2. Claims 1-3, wherein each vertical member guide is further configured to hold the plurality of vertical member LMs (110) at substantially constant circumferential positions on the overhead tube (120) at a restraint point. The mechanical transmission system MTS (100) according to any one. Claim 1 or claim 1, wherein the transmission flexible tip TBDP (130) is provided with at least two vertical member guides (300, 305, 350), and the transmission flexible base end TBPP (134) is provided with at least two vertical member guides. 4. The mechanical transmission system MTS (100) according to any one of 4. Vertical member guide (300,305,350) so as to limit the rotation about the longitudinal member LM (110) axis itself of the plurality of longitudinal members LM (110) at constraint points, and, at constraint points Multiple separate passages (310) configured to hold the longitudinal member LM (110) in a substantially constant circumferential position on the fictitious tube (120) and arranged around the fictitious tube (320, 120). ) The mechanical transmission system MTS (100) according to any one of claims 1 to 5. Configured to limit rotation of the longitudinal member LM (110) about the axis of itself transmission flexible leader TBDP (130) or longitudinal member LM to the transmission flexible proximal end TBPP (134) (110) The mechanical transmission system MTS (100) according to claim 6, wherein the passage (310) is provided with a contour in the cross section that supplements the plane cross section (114) of the vertical member LM (110). Longitudinal member guide in the transmission flexible leader TBDP (130) and the transmission flexible proximal portion TBPP (134) (300) are arranged in tandem their respective and mutually articulated A vertical member guide (305, 305', 305 ") that allows the vertical member LM (110) of the transmission flexible tip TBDP (130) and transmission flexible base end TBPP (134). The mechanical transmission system MTS (100) according to any one of claims 1 to 7, which supports curvature. The mechanical transmission system according to claim 8, wherein the articulated vertical member guides (305, 3 05 ', 3 05 ") are in a paired mutual contact state via a pivot joint composed of a ball socket joint. MTS (100). Yaw between adjacent articulated vertical member guides is limited by aligning the separated restraint points in a row so that they are substantially fixed along the fictitious tube and rotate about the axis of the fictitious tube. The mechanical transmission system MTS (100) according to claim 8 or 9. Claim that the planar cross section of the longitudinal member LM has rectangular, letter "I", or arcuate contours, and in some cases, one or more corners of those contours are sharp or rounded. The mechanical transmission system MTS (100) according to any one of 1 to 10. The mechanical transmission system MTS (100) according to any one of claims 1 to 11, wherein the flexible tip BDP (530) and the flexible base BPP (534) are at least partially bendable. ). A maneuverable device (500) comprising the mechanical transmission system MTS (100) according to any one of claims 1-12. A surgical robot comprising the maneuverable instrument (500) according to claim 13.

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